Decentralized multi-vehicle dynamic pursuit using acoustic TDOA measurements
Mei Yi Cheung, Joshua Leighton, Franz S. Hover
Abstract
Multi-vehicle operations in the ocean are increasingly attractive as more vehicles become commercially available, however acoustics still defines the main practical channel for long-range wireless communication underwater. Long transmission times, scheduling delays and packet losses remain obstacles to implementing real-time multi-vehicle cooperative control for marine vehicles. We present a control system for dynamic pursuit with multiple vehicles exchanging time-difference-of-arrival (TDOA) measurements via underwater acoustic communications. Using data from field experiments conducted with autonomous surface vehicles, we show that a decentralized controller can track fast-moving targets and formation changes, leveraging partial information updates and decreased effective cycle times. As a comparison, we show results for trials conducted with one similar but centralized control scheme.
BibTeX
@inproceedings{iros2015_decentralizedmul,
title = {Decentralized multi-vehicle dynamic pursuit using acoustic TDOA measurements},
author = {Mei Yi Cheung and Joshua Leighton and Franz S. Hover},
booktitle = {IROS 2015},
year = {2015}
}